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Is it possible to connect Lexium23 Plus Servo Drive to connection on CANMotion Bus of LMC058.

Yes it is possible to connect Lexium 23 plus device to LMC058 on CANMotion protocol. If you are using SoMachine V3.1 then you will have to install SoMaV3.1 Add-On Lexium23+. in SoMachine V4.1 Lexium23 + is already integrated as CANMotion device. 

Please find the below link to download the add-on for Lexium23+: 

This add-on integrates the Lexium23+ devices and related libraries into SoMachine V3.1. Also make sure that to use this features you must have LXM 23+ drives containing a firmware version greater than or equal to V1.010sub04.
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